Release #36

jossiewang · 2025-04-27T15:19:05Z

the stable version, tested again on 4/27

Change: move user setting command before the working directory setting command Reason: user is root when sets working directory, which cause permission denied problem when colcon build

Change: local_filter_LPF into ROS2 Note: haven't build yet

Modify: Add get_parameter in local_filter_LPF Note: ros1 code in local_filter_LPF is commented

notes: ```` --- stderr: lidar_localization_pkg /usr/lib/python3/dist-packages/setuptools/command/easy_install.py:158: EasyInstallDeprecationWarning: easy_install command is deprecated. Use build and pip and other standards-based tools. warnings.warn( --- ```

notes: `(os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*.launch.py'))),` this only take the file end with .launch.py, so the file end with .launch will not be included The pattern [pxy][yma]* matches any file that has a .launch. followed by one of the characters p, x, or y and then one of the characters y, m, or a.

notes: - to use, --ros-args --log-level debug eg. ros2 run lidar_localization_pkg lidar_localization --ros-args --log-level debug

by: miffy

from fe1993b2ab0c32db8b8104b3c207a7edc899aa88 https://github.com/jossiewang/Eurobot-2024-Localization/tree/BeaconsProbability

Ft imu drive

- move out of loop - cov is a 6 by 6 matrix

before: Time cost for landmarks_candidate: 0.0017452239990234375 Time cost for landmarks_candidate: 2.1457672119140625e-06 Time cost for landmarks_set: 0.0009710788726806641 Time cost for sorting: 0.00033855438232421875 Time cost for solving X: 0.0002930164337158203 Time cost for find theta: 0.00011181831359863281 Time cost for adjusting lidar_cov: 6.9141387939453125e-06 Time cost for creating lidar_pose_msg: 0.07376480102539062 // this is the problem Time cost for setting header: 2.4557113647460938e-05 Time cost for setting x: 8.96453857421875e-05 Time cost for setting z: 4.76837158203125e-05 Time cost for setting covariance[0]: 4.506111145019531e-05 Time cost for lidar_pose: 0.07521820068359375 after: Time cost for creating lidar_pose_msg: 7.152557373046875e-07

@pomelo925

by: @pomelo925 https://github.com/pomelo925/TTennis-Pickup-Robot/tree/main/3.Software/E.Communication

to use: ``` $ cd docker/local-ros2/OdomComm $ ./pull_and_run.sh ``` ros2 topic echo /odoo_googoogoo geometry_msgs/Twist

Deleted: unused files

Ft-OdomComm

Modified: (launch) ekf param

Feat: camera for rival localization

notes: to avoid foxglove confusion...

Copilot

Pull Request Overview

This PR introduces the stable release of the odometry component with updated node implementation, dynamic parameter configuration, and Docker compose configurations for both ROS2 and ROS1 environments.

Adds a new odometry node implementation and configuration in C++
Introduces dynamic reconfigure support and related configuration files
Provides updated Docker compose files for multi-container orchestration

Reviewed Changes

Copilot reviewed 320 out of 333 changed files in this pull request and generated 2 comments.

Show a summary per file

File	Description
docker/local-ros2/OdomComm/docker/odometry/odometry/src/odometry_node.cpp	New main node initialization and exception handling for odometry
docker/local-ros2/OdomComm/docker/odometry/odometry/param/odometry_comm.yaml	YAML configuration parameters for odometry node behavior
docker/local-ros2/OdomComm/docker/odometry/odometry/lib/odometry.cpp	Core odometry logic including parameter updates, callbacks, and dynamic reconfigure
docker/local-ros2/OdomComm/docker/odometry/odometry/include/odometry/odometry.h	Header declarations for odometry functionality
docker/local-ros2/OdomComm/docker/odometry/odometry/cfg/odometry_param.cfg	Dynamic reconfigure configuration file for runtime parameters
docker/local-ros2/OdomComm/docker/compose.yml	Docker compose file setting up the ROS2 and ROS1-bridge containers
docker/local-ros2/OdomComm/docker/compose-serial.yaml	Docker compose file for a ROS1 serial container

Files not reviewed (13)

docker/local-ros2/Dockerfile: Language not supported
docker/local-ros2/OdomComm/_run.sh: Language not supported
docker/local-ros2/OdomComm/build_and_run.sh: Language not supported
docker/local-ros2/OdomComm/docker/Dockerfile: Language not supported
docker/local-ros2/OdomComm/docker/Dockerfile-rosserial: Language not supported
docker/local-ros2/OdomComm/docker/odometry/odometry/CMakeLists.txt: Language not supported
docker/local-ros2/OdomComm/docker/odometry/odometry/launch/odometry_comm.launch: Language not supported
docker/local-ros2/OdomComm/docker/odometry/odometry/package.xml: Language not supported
docker/local-ros2/OdomComm/docker/odometry/rosserial_msgs/CHANGELOG.rst: Language not supported
docker/local-ros2/OdomComm/docker/odometry/rosserial_msgs/CMakeLists.txt: Language not supported
docker/local-ros2/OdomComm/docker/odometry/rosserial_msgs/msg/Log.msg: Language not supported
docker/local-ros2/OdomComm/docker/odometry/rosserial_msgs/msg/TopicInfo.msg: Language not supported
docker/local-ros2/OdomComm/docker/odometry/rosserial_msgs/package.xml: Language not supported

Comments suppressed due to low confidence (1)

docker/local-ros2/OdomComm/docker/odometry/odometry/lib/odometry.cpp:107

The default value for a boolean parameter should be set to 'false' rather than '0' for readability. Replace '0' with 'false'.

if(this->nh_local_.param<bool>("using_nav_vel_cb", p_sub_from_nav_, 0)){

Copilot · 2025-04-27T15:20:02Z

docker/local-ros2/OdomComm/docker/odometry/odometry/cfg/odometry_param.cfg

+gen.add("covariance_multi_vx", double_t, 0, "Covariance multiplican for vx", 0.5, 0, 9)
+gen.add("covariance_multi_vy", double_t, 0, "Covariance multiplican for vy", 0.5, 0, 9)
+gen.add("covariance_multi_vz", double_t, 0, "Covariance multiplican for vz", 0.5, 0, 9)


[nitpick] Consider correcting the typo 'multiplican' to a clearer term such as 'multiplier' to improve clarity in the parameter description.

Suggested change

gen.add("covariance_multi_vx", double_t, 0, "Covariance multiplican for vx", 0.5, 0, 9)

gen.add("covariance_multi_vy", double_t, 0, "Covariance multiplican for vy", 0.5, 0, 9)

gen.add("covariance_multi_vz", double_t, 0, "Covariance multiplican for vz", 0.5, 0, 9)

gen.add("covariance_multi_vx", double_t, 0, "Covariance multiplier for vx", 0.5, 0, 9)

gen.add("covariance_multi_vy", double_t, 0, "Covariance multiplier for vy", 0.5, 0, 9)

gen.add("covariance_multi_vz", double_t, 0, "Covariance multiplier for vz", 0.5, 0, 9)

Copilot · 2025-04-27T15:20:02Z

docker/local-ros2/OdomComm/docker/compose.yml

+      - /dev/shm:/dev/shm
+    environment:
+      - ROS_DOMAIN_ID=43
+      # - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp=value


The environment variable 'RMW_IMPLEMENTATION' appears to have an extraneous '=value' appended. Remove '=value' so it correctly sets to 'rmw_cyclonedds_cpp'.

Suggested change

# - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp=value

# - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

Notes: - msg: https://docs.ros2.org/foxy/api/geometry_msgs/msg/PoseArray.html - name: /beacons_guaguagua

yjHuang251 and others added 30 commits January 13, 2025 22:13

Modify: change permission

0cc94db

Change: move user setting command before the working directory setting command Reason: user is root when sets working directory, which cause permission denied problem when colcon build

Add: necessary packages

f226297

Add minimal phidgets_drivers

9de92b1

Add: imu_drive

930d4b6

Feat: Add all files in local_filter package

f9ae698

Change: local_filter_LPF into ROS2 Note: haven't build yet

Modify: launch files to ROS2

665034e

Modify: Add get_parameter in local_filter_LPF Note: ros1 code in local_filter_LPF is commented

Modify: yaml files to ROS2

493b3bc

Add: (BeaconProb) Add init pkg w/ basic publisher

1fb1abe

Update: colcon build ok

c1afbca

Add: (BeaconProb) add the subscriber, tested

89416fe

Modified: (BeaconProb) lidar_pose publisher

3303820

Add: (BeaconProb) Add launch for lidar w/ obstacle

68cba34

Add: (BeaconProb) Obstacles subscriber

8774c0d

Modified: (BeaconProb) use debug level logger

4388a34

notes: - to use, --ros-args --log-level debug eg. ros2 run lidar_localization_pkg lidar_localization --ros-args --log-level debug

Add: quaternion and euler conversion

515b0fd

by: miffy

Add: (BeaconProb) methods

f842727

from fe1993b2ab0c32db8b8104b3c207a7edc899aa88 https://github.com/jossiewang/Eurobot-2024-Localization/tree/BeaconsProbability

Merge pull request #11 from mac781/ft-imu_drive

619abd2

Ft imu drive

Add: (BeaconProb) subsribe to pred_pose

8c088fa

Add: (BeaconProb) data process

71fc01e

ft-rival_localization

2801ba5

Fix: (BeaconProb) lidar_cov

76e543f

- move out of loop - cov is a 6 by 6 matrix

Fix within_lock

809aa7f

Add: ros bridge and rosserial by @pomelo925

c92ae3d

by: @pomelo925 https://github.com/pomelo925/TTennis-Pickup-Robot/tree/main/3.Software/E.Communication

Add: docker compose STM32 - ROS2

e99717b

to use: ``` $ cd docker/local-ros2/OdomComm $ ./pull_and_run.sh ``` ros2 topic echo /odoo_googoogoo geometry_msgs/Twist

Fix: project removal / Modify: compose for all

cb6a619

Fix: (OdomComm) compose w/ comm mount

8efc470

Deleted: unused files

Merge pull request #17 from jossiewang/ft-OdomComm

916d112

Ft-OdomComm

wintera1233 and others added 22 commits March 17, 2025 22:29

modified: (blue) threshold cov

ff995c5

Modified: (rival) default param value

609a29e

Add: (rival) camera and obs fusion

2c3f10c

Modified: (lidar) obstacle radius and some parameters

a3c90f5

Fixed: (rival) subscribe and callback in header

f6a0327

Merge branch 'ft-health_script' into devel

de99632

Fixed: (ekf) param and initialization

d4a68e6

Fixed: (lidar) obstacle enlargement (float)

aede910

Fixed: (launch) syntac

3da0b0c

Modified: (launch) ekf param

Merge branch 'devel' into Release

25257e6

modified: (ekf) global transform stamped

b6cf863

Merge pull request #28 from DIT-ROBOTICS/ft-camera4rival

ae900ec

Feat: camera for rival localization

Fixed: (ekf) bug with static transform init

022ae3b

Add: (ekf) use_cam as param

a50cbbc

Add: (lidar) visualize chosen_landmarks

f195385

Modified: (launch) bag_test

62e011e

Modified: (launch) add use_cam param

3eb87e2

Fixed: (lidar) chosen landmark visualization

8d04a87

removed: unused TF include

d46e311

Fixed: (lidar) use CROSS to distinguish a & b

437cc7b

Modified: (launch) initialpose w/o underline

5b62faf

notes: to avoid foxglove confusion...

Merge remote-tracking branch 'upstream/devel' into Release

1ccab29

jossiewang requested a review from Copilot April 27, 2025 15:19

Copilot AI reviewed Apr 27, 2025

View reviewed changes

jossiewang requested a review from wintera1233 April 28, 2025 08:53

jossiewang added 5 commits April 28, 2025 16:56

Removed: ros1 workspace

b39a960

Add: (obstacle) source code

454e824

Add: (env) .env and profiles

3fe9395

Add: (lidar calibraiton) publish beacons

94ff7f4

Notes: - msg: https://docs.ros2.org/foxy/api/geometry_msgs/msg/PoseArray.html - name: /beacons_guaguagua

Add: test for features

4754575

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	# - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp=value
	# - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

Release #36

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